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Refactor SCARA calibration. Save some lines of code and possibly ROM.

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This commit is contained in:
Josef Larsson 2015-03-22 00:32:22 +01:00
parent b5970492e2
commit 9b3462f73f
1 changed files with 15 additions and 61 deletions
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76
Marlin/Marlin_main.cpp
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@ -3967,18 +3967,16 @@ inline void gcode_M303() {
} }
#ifdef SCARA #ifdef SCARA
/** /**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration) * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/ */
inline bool gcode_M360() { bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration //SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled "); //SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) { if (! Stopped) {
//get_coordinates(); // For X Y Z E F //get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0; delta[X_AXIS] = delta_x;
delta[Y_AXIS] = 120; delta[Y_AXIS] = delta_y;
calculate_SCARA_forward_Transform(delta); calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
@ -3989,25 +3987,20 @@ inline void gcode_M303() {
return false; return false;
} }
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
return SCARA_move_to_cal(0, 120);
}
/** /**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/ */
inline bool gcode_M361() { inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 "); SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(90, 130);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4015,20 +4008,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M362() { inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 "); SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(60, 180);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4036,20 +4016,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M363() { inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 "); SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(50, 90);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4057,20 +4024,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M364() { inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(45, 135);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**